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- # Generated by PNCconf at Fri Feb 22 17:48:17 2019
- # If you make changes to this file, they will be
- # overwritten when you run PNCconf again
- loadrt trivkins
- loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
- loadrt hostmot2
- loadrt hm2_pci config=" num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=102xxx"
- setp hm2_5i25.0.watchdog.timeout_ns 5000000
- loadrt pid names=pid.x,pid.y,pid.z,pid.s,pid.o
- loadrt scale names=scale.spindle,scale.spindle-load,scale.x-servo-load,scale.y-servo-load,scale.z-servo-load
- loadrt abs names=abs.spindle,abs.spindle-output
- loadrt lowpass names=lowpass.spindle
- loadrt near names=near.spindle-at-speed
- loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 numBits=50 numWords=50
- loadrt mux16 names=jogincr,soincr
- loadrt mux2 names=mux2.spindle,mux2.shome
- loadrt tristate_bit names=tristate.orient-index
- loadrt orient names=orient.spindle
- loadrt estop_latch count=3
- loadrt shome names=shome.spindle
- addf hm2_5i25.0.read servo-thread
- addf motion-command-handler servo-thread
- addf motion-controller servo-thread
- addf pid.x.do-pid-calcs servo-thread
- addf pid.y.do-pid-calcs servo-thread
- addf pid.z.do-pid-calcs servo-thread
- addf pid.s.do-pid-calcs servo-thread
- addf pid.o.do-pid-calcs servo-thread
- addf classicladder.0.refresh servo-thread
- addf jogincr servo-thread
- addf soincr servo-thread
- addf scale.spindle servo-thread
- addf abs.spindle servo-thread
- addf abs.spindle-output servo-thread
- addf lowpass.spindle servo-thread
- addf shome.spindle servo-thread
- addf mux2.spindle servo-thread
- addf mux2.shome servo-thread
- addf tristate.orient-index servo-thread
- addf orient.spindle servo-thread
- addf near.spindle-at-speed servo-thread
- addf hm2_5i25.0.write servo-thread
- addf estop-latch.0 servo-thread
- addf estop-latch.1 servo-thread
- addf estop-latch.2 servo-thread
- # external output signals
- # --- ETS-AIR-BLAST ---
- net ets-clean => hm2_5i25.0.7i77.0.0.output-00
- # --- TRP-PRECHARGE ---
- net trp-precharge => hm2_5i25.0.7i77.0.0.output-01
- # --- TRP-TOOL-RELEASE ---
- net trp-tool-release => hm2_5i25.0.7i77.0.0.output-02
- # --- SPINDLE-FAST ACCEL/DECEL ---
- net spindle-orient-enable => hm2_5i25.0.7i77.0.0.output-03
- # --- ESTOP-OUT ---
- net estop-out => hm2_5i25.0.7i77.0.0.output-08
- # --- LUBE-PUMP
- net lube-pump-on => hm2_5i25.0.7i77.0.0.output-09
- # --- SPINDLE-FAN ---
- net spindle-enable => hm2_5i25.0.7i77.0.0.output-10
- # --- AUGER-POWER
- net auger-on => hm2_5i25.0.7i77.0.0.output-11
- # --- AUGER-REVERSE
- net auger-reverse => hm2_5i25.0.7i77.0.0.output-12
- # --- COOLANT-FLOOD ---
- net coolant-flood => hm2_5i25.0.7i77.0.0.output-13
- # --- SPINDLE-CW ---
- net spindle-cw => hm2_5i25.0.7i77.0.0.output-14
- # --- SPINDLE-CCW ---
- net spindle-ccw => hm2_5i25.0.7i77.0.0.output-15
- # external input signals
- # --- SPINDLE-LOAD ---
- net spindle_load <= hm2_5i25.0.7i77.0.0.analogin0
- # --- X AXIS SERVO LOAD ---
- net x-axis-load-raw <= hm2_5i25.0.7i77.0.0.analogin1
- # --- Y AXIS SERVO LOAD ---
- net y-axis-load-raw <= hm2_5i25.0.7i77.0.0.analogin2
- # --- Z AXIS SERVO LOAD ---
- net z-axis-load-raw <= hm2_5i25.0.7i77.0.0.analogin3
- # --- CONSOLE ESTOP SWITCH ---
- net console-estop <= hm2_5i25.0.7i77.0.0.input-04-not
- net latch0-ok-in <= hm2_5i25.0.7i77.0.0.input-04
- # --- PROBE-IN ---
- net probe-in <= hm2_5i25.0.7i77.0.0.input-05
- # --- EST OT ESTOP SWITCH ---
- net ets-estop <= hm2_5i25.0.7i77.0.0.input-06-not
- # --- LUBE-OIL-LOW ---
- net LowLubeSw <= hm2_5i25.0.7i77.0.0.input-07
- net low-oil <= hm2_5i25.0.7i77.0.0.input-07-not
- # --- CABINET ESTOP SWITCH ---
- net cabinet-estop <= hm2_5i25.0.7i77.0.0.input-08
- # --- X-AMP-FAULT-STATUS ---
- net x-fault-status <= hm2_5i25.0.7i77.0.0.input-17
- # --- Y-AMP-FAULT-STATUS ---
- net y-fault-status <= hm2_5i25.0.7i77.0.0.input-19
- # --- Z-AMP-FAULT-STATUS ---
- net z-fault-status <= hm2_5i25.0.7i77.0.0.input-21
- # --- AIR-PRESSURE-SWITCH ---
- net air-pressure-switch <= hm2_5i25.0.7i77.0.0.input-24
- # --- AUGER-CURRENT-LIMIT ---
- net auger-current-switch <= hm2_5i25.0.7i77.0.0.input-26
- # --- TRP-OPEN ---
- net trp-open <= hm2_5i25.0.7i77.0.0.input-27-not
- # --- MAX-HOME-Z ---
- net max-home-z <= hm2_5i25.0.7i77.0.0.input-28-not
- # --- MAX-HOME-Y ---
- net max-home-y <= hm2_5i25.0.7i77.0.0.input-29-not
- # --- MAX-HOME-X ---
- net max-home-x <= hm2_5i25.0.7i77.0.0.input-30-not
- # --- SPINDLE-FAULT ---
- net spindle-fault <= hm2_5i25.0.7i77.0.0.input-31-not
- # --- JOG-INCR-C ---
- net jog-incr-c <= hm2_5i25.0.7i84.0.2.input-08
- # --- JOG-INCR-B ---
- net jog-incr-b <= hm2_5i25.0.7i84.0.2.input-09
- # --- JOG-INCR-A ---
- net jog-incr-a <= hm2_5i25.0.7i84.0.2.input-10
- # --- ZERO-X-BUTTON ---
- net zero-x-button <= hm2_5i25.0.7i84.0.2.input-11
- net zero-x-button => halui.mdi-command-00
- # --- ZERO-Y-BUTTON ---
- net zero-y-button <= hm2_5i25.0.7i84.0.2.input-12
- net zero-y-button => halui.mdi-command-01
- # --- ZERO-Z-BUTTON ---
- net zero-z-button <= hm2_5i25.0.7i84.0.2.input-13
- net zero-z-button => halui.mdi-command-02
- # --- CONSOLE-ESTOP-RESET ---
- net latch-reset <= hm2_5i25.0.7i84.0.2.input-18
- # --- HOME-ALL ---
- net home-all <= hm2_5i25.0.7i84.0.2.input-20
- # --- CYCLE-START ---
- net cycle-start <= hm2_5i25.0.7i84.0.2.input-21
- # --- ABORT ---
- net abort <= hm2_5i25.0.7i84.0.2.input-22
- # --- TRP-RELEASE ---
- net trp-release <= hm2_5i25.0.7i84.0.2.input-23
- # --- FEED-HOLD ---
- net feed-hold <= hm2_5i25.0.7i84.0.2.input-24
- # --- JOINT-SELECT-A ---
- net joint-select-a <= hm2_5i25.0.7i84.0.2.input-28
- # --- JOINT-SELECT-B ---
- net joint-select-b <= hm2_5i25.0.7i84.0.2.input-29
- # --- JOINT-SELECT-C ---
- net joint-select-c <= hm2_5i25.0.7i84.0.2.input-30
- # --- JOINT-SELECT-D ---
- net joint-select-d <= hm2_5i25.0.7i84.0.2.input-31
- #*******************
- # AXIS X
- #*******************
- setp pid.x.Pgain [AXIS_0]P
- setp pid.x.Igain [AXIS_0]I
- setp pid.x.Dgain [AXIS_0]D
- setp pid.x.bias [AXIS_0]BIAS
- setp pid.x.FF0 [AXIS_0]FF0
- setp pid.x.FF1 [AXIS_0]FF1
- setp pid.x.FF2 [AXIS_0]FF2
- setp pid.x.deadband [AXIS_0]DEADBAND
- setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
- setp pid.x.error-previous-target true
- net x-index-enable <=> pid.x.index-enable
- net x-enable => pid.x.enable
- net x-pos-cmd => pid.x.command
- net x-vel-cmd => pid.x.command-deriv
- net x-pos-fb => pid.x.feedback
- net x-output => pid.x.output
- # ---PWM Generator signals/setup---
- setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE
- setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_0]OUTPUT_MIN_LIMIT
- setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
- net x-output => hm2_5i25.0.7i77.0.1.analogout0
- net x-pos-cmd axis.0.motor-pos-cmd
- net x-enable axis.0.amp-enable-out
- # enable _all_ sserial pwmgens
- net x-enable hm2_5i25.0.7i77.0.1.analogena
- # ---Encoder feedback signals/setup---
- setp hm2_5i25.0.encoder.00.counter-mode 0
- setp hm2_5i25.0.encoder.00.filter 1
- setp hm2_5i25.0.encoder.00.index-invert 0
- setp hm2_5i25.0.encoder.00.index-mask 0
- setp hm2_5i25.0.encoder.00.index-mask-invert 0
- setp hm2_5i25.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
- net x-pos-fb <= hm2_5i25.0.encoder.00.position
- net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
- net x-pos-fb => axis.0.motor-pos-fb
- net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable
- net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
- # ---setup home / limit switch signals---
- net max-home-x => axis.0.home-sw-in
- net x-neg-limit => axis.0.neg-lim-sw-in
- net max-home-x => axis.0.pos-lim-sw-in
- #*******************
- # AXIS Y
- #*******************
- setp pid.y.Pgain [AXIS_1]P
- setp pid.y.Igain [AXIS_1]I
- setp pid.y.Dgain [AXIS_1]D
- setp pid.y.bias [AXIS_1]BIAS
- setp pid.y.FF0 [AXIS_1]FF0
- setp pid.y.FF1 [AXIS_1]FF1
- setp pid.y.FF2 [AXIS_1]FF2
- setp pid.y.deadband [AXIS_1]DEADBAND
- setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
- setp pid.y.error-previous-target true
- net y-index-enable <=> pid.y.index-enable
- net y-enable => pid.y.enable
- net y-pos-cmd => pid.y.command
- net y-vel-cmd => pid.y.command-deriv
- net y-pos-fb => pid.y.feedback
- net y-output => pid.y.output
- # ---PWM Generator signals/setup---
- setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE
- setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_1]OUTPUT_MIN_LIMIT
- setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
- net y-output => hm2_5i25.0.7i77.0.1.analogout1
- net y-pos-cmd axis.1.motor-pos-cmd
- net y-enable axis.1.amp-enable-out
- # ---Encoder feedback signals/setup---
- setp hm2_5i25.0.encoder.01.counter-mode 0
- setp hm2_5i25.0.encoder.01.filter 1
- setp hm2_5i25.0.encoder.01.index-invert 0
- setp hm2_5i25.0.encoder.01.index-mask 0
- setp hm2_5i25.0.encoder.01.index-mask-invert 0
- setp hm2_5i25.0.encoder.01.scale [AXIS_1]ENCODER_SCALE
- net y-pos-fb <= hm2_5i25.0.encoder.01.position
- net y-vel-fb <= hm2_5i25.0.encoder.01.velocity
- net y-pos-fb => axis.1.motor-pos-fb
- net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable
- net y-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
- # ---setup home / limit switch signals---
- net max-home-y => axis.1.home-sw-in
- net y-neg-limit => axis.1.neg-lim-sw-in
- net max-home-y => axis.1.pos-lim-sw-in
- #*******************
- # AXIS Z
- #*******************
- setp pid.z.Pgain [AXIS_2]P
- setp pid.z.Igain [AXIS_2]I
- setp pid.z.Dgain [AXIS_2]D
- setp pid.z.bias [AXIS_2]BIAS
- setp pid.z.FF0 [AXIS_2]FF0
- setp pid.z.FF1 [AXIS_2]FF1
- setp pid.z.FF2 [AXIS_2]FF2
- setp pid.z.deadband [AXIS_2]DEADBAND
- setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
- setp pid.z.error-previous-target true
- net z-index-enable <=> pid.z.index-enable
- net z-enable => pid.z.enable
- net z-pos-cmd => pid.z.command
- net z-vel-cmd => pid.z.command-deriv
- net z-pos-fb => pid.z.feedback
- net z-output => pid.z.output
- # ---PWM Generator signals/setup---
- setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [AXIS_2]OUTPUT_SCALE
- setp hm2_5i25.0.7i77.0.1.analogout2-minlim [AXIS_2]OUTPUT_MIN_LIMIT
- setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [AXIS_2]OUTPUT_MAX_LIMIT
- net z-output => hm2_5i25.0.7i77.0.1.analogout2
- net z-pos-cmd axis.2.motor-pos-cmd
- net z-enable axis.2.amp-enable-out
- # ---Encoder feedback signals/setup---
- setp hm2_5i25.0.encoder.02.counter-mode 0
- setp hm2_5i25.0.encoder.02.filter 1
- setp hm2_5i25.0.encoder.02.index-invert 0
- setp hm2_5i25.0.encoder.02.index-mask 0
- setp hm2_5i25.0.encoder.02.index-mask-invert 0
- setp hm2_5i25.0.encoder.02.scale [AXIS_2]ENCODER_SCALE
- net z-pos-fb <= hm2_5i25.0.encoder.02.position
- net z-vel-fb <= hm2_5i25.0.encoder.02.velocity
- net z-pos-fb => axis.2.motor-pos-fb
- net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.02.index-enable
- net z-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts
- # ---setup home / limit switch signals---
- net max-home-z => axis.2.home-sw-in
- net z-neg-limit => axis.2.neg-lim-sw-in
- net max-home-z => axis.2.pos-lim-sw-in
- #*******************
- # SPINDLE S
- #*******************
- # Velocity Tuning
- setp pid.s.Pgain [JOINT_3]P
- setp pid.s.Igain [JOINT_3]I
- setp pid.s.Dgain [JOINT_3]D
- setp pid.s.bias [JOINT_3]BIAS
- setp pid.s.FF0 [JOINT_3]FF0
- setp pid.s.FF1 [JOINT_3]FF1
- setp pid.s.FF2 [JOINT_3]FF2
- setp pid.s.deadband [JOINT_3]DEADBAND
- setp pid.s.maxoutput [JOINT_3]MAX_OUTPUT
- setp pid.s.error-previous-target true
- net spindle-index-enable <=> pid.s.index-enable
- net spindle-enable => pid.s.enable
- net spindle-vel-cmd-rpm => pid.s.command
- net spindle-fb-rpm => pid.s.feedback
- net spindle-s-output <= pid.s.output
- # Position Tuning
- setp pid.o.Pgain [JOINT_4]P
- setp pid.o.Igain [JOINT_4]I
- setp pid.o.Dgain [JOINT_4]D
- setp pid.o.bias [JOINT_4]BIAS
- setp pid.o.FF0 [JOINT_4]FF0
- setp pid.o.FF1 [JOINT_4]FF1
- setp pid.o.FF2 [JOINT_4]FF2
- setp pid.o.deadband [JOINT_4]DEADBAND
- setp pid.o.maxoutput [JOINT_4]MAX_OUTPUT
- setp pid.o.error-previous-target true
- net spindle-index-enable <=> pid.o.index-enable
- net spindle-orient-enable => pid.o.enable
- net orient-command => pid.o.command
- net spindle-revs => pid.o.feedback
- net spindle-o-output <= pid.o.output
- # ---PWM Generator signals/setup---
- setp hm2_5i25.0.7i77.0.1.analogout5-scalemax [JOINT_3]OUTPUT_SCALE
- setp hm2_5i25.0.7i77.0.1.analogout5-minlim [JOINT_3]OUTPUT_MIN_LIMIT
- setp hm2_5i25.0.7i77.0.1.analogout5-maxlim [JOINT_3]OUTPUT_MAX_LIMIT
- net spindle-output => hm2_5i25.0.7i77.0.1.analogout5
- net machine-is-enabled => hm2_5i25.0.7i77.0.1.spinena
- # ---Encoder feedback signals/setup---
- setp hm2_5i25.0.encoder.05.counter-mode 0
- setp hm2_5i25.0.encoder.05.filter 1
- setp hm2_5i25.0.encoder.05.index-invert 0
- setp hm2_5i25.0.encoder.05.index-mask 0
- setp hm2_5i25.0.encoder.05.index-mask-invert 0
- setp hm2_5i25.0.encoder.05.scale [JOINT_3]ENCODER_SCALE
- net spindle-revs <= hm2_5i25.0.encoder.05.position
- net spindle-vel-fb-rps <= hm2_5i25.0.encoder.05.velocity
- net spindle-index-enable <=> hm2_5i25.0.encoder.05.index-enable
- # ---setup spindle control signals---
- net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
- net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
- net spindle-vel-cmd-rpm <= motion.spindle-speed-out
- net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
- net spindle-enable <= motion.spindle-on
- #net spindle-cw <= motion.spindle-forward
- #net spindle-ccw spindle-orient-enable<= motion.spindle-reverse
- net spindle-brake <= motion.spindle-brake
- net spindle-revs => motion.spindle-revs
- net spindle-at-speed => motion.spindle-at-speed
- net spindle-vel-fb-rps => motion.spindle-speed-in
- net spindle-index-enable <=> motion.spindle-index-enable
- net spindle-fault => axis.2.amp-fault-in
- # ---Setup spindle orient componant---
- net spindle-orient-enable <= motion.spindle-orient
- net spindle-orient-angle <= motion.spindle-orient-angle
- net spindle-orient-mode => motion.spindle-orient-mode
- net spindle-orient-enable => orient.spindle.enable
- net spindle-orient-angle => orient.spindle.angle
- net spindle-orient-mode => orient.spindle.mode
- net spindle-revs => orient.spindle.position
- net spindle-orient-poserror <= orient.spindle.poserr
- net orient-command <= orient.spindle.command
- net spindle-oriented <= orient.spindle.is-oriented
- net spindle-oriented => motion.spindle-is-oriented
- # ---Setup mux2.spindle to switch between pid outputs---
- net spindle-s-output => mux2.spindle.in0
- net spindle-o-output => mux2.spindle.in1
- net spindle-orient-enable => mux2.spindle.sel
- net pid-mux-command <= mux2.spindle.out
- # ---Setup mux2.shome to home spindle---
- net pid-mux-command => mux2.shome.in0
- net spindle-shome-command => mux2.shome.in1
- net spindle-en-homing => mux2.shome.sel
- net spindle-command <= mux2.shome.out
- # ---Setup ABS component to drive vfd---
- net spindle-command => abs.spindle-output.in
- #net pid-mux-command => abs.spindle-output.in
- net spindle-output <= abs.spindle-output.out
- net spindle-cw <= abs.spindle-output.is-positive
- net spindle-ccw <= abs.spindle-output.is-negative
- # ---Setup TRISTATE component to index-enable encoder---
- #net spindle-orient-enable => tristate.orient-index.in
- #net spindle-index-enable <= tristate.orient-index.out
- #net spindle-orient-enable => tristate.orient-index.enable
- # ---Setup spindle at speed signals---
- net spindle-vel-cmd-rps => near.spindle-at-speed.in1
- net spindle-vel-fb-rps => near.spindle-at-speed.in2
- net spindle-at-speed <= near.spindle-at-speed.out
- setp near.spindle-at-speed.scale 1.000000
- setp near.spindle-at-speed.difference 1.00000
- # Use ACTUAL spindle velocity from spindle encoder
- # spindle-velocity bounces around so we filter it with lowpass
- # spindle-velocity is signed so we use absolute component to remove sign
- # ACTUAL velocity is in RPS not RPM so we scale it.
- setp scale.spindle.gain 60
- setp lowpass.spindle.gain 1.000000
- net spindle-vel-fb-rps => scale.spindle.in
- net spindle-fb-rpm scale.spindle.out => abs.spindle.in
- net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
- net spindle-fb-rpm-abs-filtered lowpass.spindle.out
- # --- Home Spindle when Z homes
- net z-is-homed => shome.spindle.enable
- net spindle-shome-command <= shome.spindle.command
- net spindle-en-homing <= shome.spindle.homing
- net spindle-homed => shome.spindle.homed
- net spindle-index-enable <=> shome.spindle.index-enable
- setp shome.spindle.velocity 100
- #******************************
- # connect miscellaneous signals
- #******************************
- # ---HALUI signals---
- net joint-select-a halui.joint.0.select
- net x-is-homed halui.joint.0.is-homed
- net jog-x-pos halui.jog.0.plus
- net jog-x-neg halui.jog.0.minus
- net jog-x-analog halui.jog.0.analog
- net joint-select-b halui.joint.1.select
- net y-is-homed halui.joint.1.is-homed
- net jog-y-pos halui.jog.1.plus
- net jog-y-neg halui.jog.1.minus
- net jog-y-analog halui.jog.1.analog
- net joint-select-c halui.joint.2.select
- net z-is-homed halui.joint.2.is-homed
- net jog-z-pos halui.jog.2.plus
- net jog-z-neg halui.jog.2.minus
- net jog-z-analog halui.jog.2.analog
- net jog-selected-pos halui.jog.selected.plus
- net jog-selected-neg halui.jog.selected.minus
- net spindle-manual-cw halui.spindle.forward
- net spindle-manual-ccw halui.spindle.reverse
- net spindle-manual-stop halui.spindle.stop
- net machine-is-on halui.machine.is-on
- net jog-speed halui.jog-speed
- net MDI-mode halui.mode.is-mdi
- net cycle-start halui.program.run
- net abort halui.program.stop
- net home-all halui.home-all
- net feed-hold halui.program.pause
- net estop-activated halui.estop.is-activated
- # ---coolant signals---
- net coolant-mist <= iocontrol.0.coolant-mist
- net coolant-flood <= iocontrol.0.coolant-flood
- # ---probe signal---
- net probe-in => motion.probe-input
- # ---jogwheel signals to mesa encoder - shared MPG---
- net joint-selected-count <= hm2_5i25.0.7i84.0.2.enc0.count
- # ---mpg signals---
- # for axis x MPG
- setp axis.0.jog-vel-mode 0
- net selected-jog-incr => axis.0.jog-scale
- net joint-select-a => axis.0.jog-enable
- net joint-selected-count => axis.0.jog-counts
- # for axis y MPG
- setp axis.1.jog-vel-mode 0
- net selected-jog-incr => axis.1.jog-scale
- net joint-select-b => axis.1.jog-enable
- net joint-selected-count => axis.1.jog-counts
- # for axis z MPG
- setp axis.2.jog-vel-mode 0
- net selected-jog-incr => axis.2.jog-scale
- net joint-select-c => axis.2.jog-enable
- net joint-selected-count => axis.2.jog-counts
- # connect selectable mpg jog increments
- net jog-incr-a => jogincr.sel0
- net jog-incr-b => jogincr.sel1
- net jog-incr-c => jogincr.sel2
- net jog-incr-d => jogincr.sel3
- net selected-jog-incr <= jogincr.out-f
- setp jogincr.debounce-time 0.200000
- setp jogincr.use-graycode False
- setp jogincr.suppress-no-input False
- setp jogincr.in00 0.000000
- setp jogincr.in01 0.000100
- setp jogincr.in02 0.001000
- setp jogincr.in03 0.001000
- setp jogincr.in04 0.010000
- setp jogincr.in05 0.010000
- setp jogincr.in06 0.050000
- setp jogincr.in07 0.100000
- setp jogincr.in08 0.125000
- setp jogincr.in09 0.125000
- setp jogincr.in10 0.125000
- setp jogincr.in11 0.125000
- setp jogincr.in12 0.125000
- setp jogincr.in13 0.125000
- setp jogincr.in14 0.125000
- setp jogincr.in15 0.125000
- # connect spindle overide increments - MPG
- setp halui.spindle-override.direct-value false
- setp halui.spindle-override.scale .01
- net so-enable => halui.spindle-override.count-enable
- net joint-selected-count => halui.spindle-override.counts
- # ---motion control signals---
- net in-position <= motion.in-position
- net machine-is-enabled <= motion.motion-enabled
- # ---digital in / out signals---
- net ets-clean <= motion.digital-out-00
- # ---estop signals---
- net latch0-ok-in => estop-latch.0.ok-in
- net latch0-out <= estop-latch.0.ok-out
- net latch0-out => estop-latch.1.ok-in
- net latch1-out <= estop-latch.1.ok-out
- net latch1-out => estop-latch.2.ok-in
- net latch-reset => estop-latch.0.reset
- net latch-reset => estop-latch.1.reset
- net latch-reset => estop-latch.2.reset
- net estop-out iocontrol.0.emc-enable-in <= estop-latch.2.ok-out
- net console-estop => estop-latch.0.fault-in
- net cabinet-estop => estop-latch.1.fault-in
- net ets-estop => estop-latch.2.fault-in
- # ---manual tool change signals---
- loadusr -W hal_manualtoolchange
- net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
- net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
- net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
- net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
- # ---Classic Ladder Code ---
- # Load Classicladder without GUI (can reload LADDER GUI in AXIS GUI
- loadusr classicladder --nogui trp_ladder.clp
- net trp-release => classicladder.0.in-00
- net spindle-enable => classicladder.0.in-01
- net estop-activated => classicladder.0.in-02
- net spindle-orient-enable => classicladder.0.in-03
- net trp-precharge <= classicladder.0.out-00
- net trp-tool-release <= classicladder.0.out-01
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